1'''
2Motion - Motion_save_configuration_file.py with asynchronous mode.
3
4-------------------------------------------------------------------------------------
5Please change correct serial number or IP and port number BEFORE you run example code.
6
7For other examples please check:
8 https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
9See README.md file to get detailed usage of this example.
10
11Copyright (c) 2022-2025 WPC Systems Ltd. All rights reserved.
12'''
13
14## WPC
15from wpcsys import pywpc
16
17## Python
18import asyncio
19import sys
20sys.path.insert(0, 'src/')
21
22
23async def main():
24 ## Get Python driver version
25 print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
26
27 ## Create device handle
28 dev = pywpc.EMotion()
29
30 ## Connect to device
31 try:
32 dev.connect("192.168.1.110") ## Depend on your device
33 except Exception as err:
34 pywpc.printGenericError(err)
35 ## Release device handle
36 dev.close()
37 return
38
39 try:
40 ## Parameters setting
41 port = 0 ## Depend on your device
42 axis = 0
43 two_pulse_mode = 1
44 rel_posi_mode = 1
45
46 ## Axis and encoder parameters
47 axis_dir_cw = 0
48 encoder_dir_cw = 0
49
50 ## Polarity and enable parameters
51 active_low = 0
52 active_high = 1
53
54 ## Get firmware model & version
55 driver_info = await dev.Sys_getDriverInfo_async()
56 print(f"Model name: {driver_info[0]}, Firmware version: {driver_info[-1]} ")
57
58 ## Motion open
59 err = await dev.Motion_open_async(port)
60 print(f"open_async in port {port}, status: {err}")
61
62 ## Motion open configuration file
63 err = await dev.Motion_openCfgFile_async('C:/Users/user/Desktop/3AxisStage_2P.ini')
64 print(f"openCfgFile_async, status: {err}")
65
66 ## Motion configure
67 err = await dev.Motion_cfgAxis_async(port, axis, two_pulse_mode, axis_dir_cw, encoder_dir_cw, active_low)
68 print(f"cfgAxis_async in axis{axis}, status: {err}")
69
70 err = await dev.Motion_cfgAxisMove_async(port, axis, rel_posi_mode, target_posi=5000, velo=10000, accel=100000, decel=100000)
71 print(f"cfgAxisMove_async in axis{axis}, status: {err}")
72
73 ## Motion save configuration file
74 err = await dev.Motion_saveCfgFile_async()
75 print(f"saveCfgFile_async, status: {err}")
76
77 ## Motion close
78 err = await dev.Motion_close_async(port)
79 print(f"close_async in port {port}, status: {err}")
80 except Exception as err:
81 pywpc.printGenericError(err)
82
83 finally:
84 ## Disconnect device
85 dev.disconnect()
86
87 ## Release device handle
88 dev.close()
89
90
91def main_for_spyder(*args):
92 if asyncio.get_event_loop().is_running():
93 return asyncio.create_task(main(*args)).result()
94 else:
95 return asyncio.run(main(*args))
96
97
98if __name__ == '__main__':
99 asyncio.run(main()) ## Use terminal
100 # await main() ## Use Jupyter or IPython(>=7.0)
101 # main_for_spyder() ## Use Spyder